DRIVERLESS TRANSPORT VEHICLE

Abstract

A driverless transport vehicle for autonomous transport and replacement of at least one spinning can. In order to provide a driverless transport vehicle which reliably ensures an automated supply of the spinning machines fed with fibre band, the driverless transport vehicle has an autonomous travelling drive, a transport platform for accommodating the at least one spinning can, and a manipulator unit for taking up and setting down the at least one spinning can, the manipulator unit having a gripper for grasping the spinning can and an actuating device for adjusting the gripper.

Claims

1. A driverless transport vehicle for autonomous transport and replacement of at least one spinning can comprising: an autonomous travelling drive; a transport platform for taking up the at least one spinning can; and an autonomous manipulator unit for taking up and setting down the at least one spinning can, whereby the autonomous manipulator unit includes a gripper for gripping the at least one spinning can and an actuating device for adjusting the gripper.

2. The driverless transport vehicle according to claim 1, further including a take-up unit which is arranged on the transport platform and mounts the autonomous manipulator unit and an operating unit communicatively connected to the autonomous manipulator unit in a raised manner with respect to a surface of the transport platform for operation by an operator of at least the autonomous manipulator unit.

3. The driverless transport vehicle according to claim 1, wherein a control unit of the autonomous manipulator unit is arranged in, on or on the take-up unit.

4. The driverless transport vehicle according to claim 1, wherein the autonomous manipulator unit comprises a collaborating robot, wherein the actuating device comprises a robot arm and the gripper comprises a robot hand of the collaborating robot.

5. The driverless transport vehicle according to claim 1, wherein the gripper comprises two gripper elements, wherein a first one of the two gripper elements is arranged in a stationary manner and a second one of the two gripper elements is arranged in a linearly adjustable manner on a support strut of the gripper in a direction of the first one of the two gripper elements and away from the latter, in order to assume a release position releasing the at least one spinning can and a holding position locking the at least one spinning can in a course of adjustment.

6. The driverless transport vehicle according to claim 5, wherein each of the two gripper elements has in each case at least two contact surfaces for contacting the at least one spinning can, the contact surfaces of each of the two gripper elements being arranged at a distance from one another on each of the two gripper elements, at least one of the contact surfaces per each of the two gripper elements having a static-friction structure for contacting the at least one spinning can.

7. The driverless transport vehicle according to claim 5, further including a signal transmitter that is arranged on one of the two gripper elements and embodied to signal contacting of the two gripper elements.

8. The driverless transport vehicle according to no of the claim 5, further including a pushing apparatus arranged on the gripper and having a pusher body which can be brought into engagement with the at least one spinning can for bottom-level displacement of the at least one spinning can.

9. The driverless transport vehicle according to claim 8, wherein the pusher body has a coupling unit for releasable tension-resistant connection to the at least one spinning can, the coupling unit having a vacuum unit which is arranged on the first one of the two gripper elements on a side facing away from the second one of the two gripper elements.

10. The driverless transport vehicle according to claim 2, wherein the take-up unit comprises a detection unit for detecting a position of the at least one spinning can and/or of a fibre band end arranged in the at least one spinning can.

11. The driverless transport vehicle according to claim 10, wherein the detection unit is embodied for camera-based, laser-based and/or sensor-based detection of a position of the at least one spinning can and/or of the fibre band end in the at least one spinning can.

12. A process for replacing at least one spinning can on a spinning machine comprising: moving the driverless transport vehicle according to claim 1 loaded with at least one spinning can filled with fibre band to the spinning machine; positioning the driverless transport vehicle on the spinning machine in front of the at least one spinning can to be replaced; moving the at least one spinning can to be replaced by the driverless transport vehicle, from an operating position to a take-up position at a distance from the operating position; picking up the at least one spinning can filled with fibre band from the transport platform by the autonomous manipulator unit and the setting of the at least one spinning can down next to the driverless transport vehicle; and moving the filled spinning can that has been set down into a free operating position by the driverless transport vehicle.

Description

BRIEF DESCRIPTION OF THE DRAWINGS

[0063] Embodiment examples of the present invention are explained below with reference to the drawings. In the drawings:

[0064] FIG. 1 shows a schematic, perspective side view of a first embodiment of a driverless transport vehicle;

[0065] FIG. 2 shows a schematic, perspective top view of the driverless transport vehicle from FIG. 1 with a spinning can held by a gripper;

[0066] FIG. 3 shows a schematic, perspective side view of the transport vehicle from FIG. 1 with a spinning can release gripper;

[0067] FIG. 4a shows a schematic illustration of a top view of a second embodiment of a driverless transport vehicle;

[0068] FIG. 4b shows a schematic illustration of a side view of the driverless transport vehicle of FIG. 4a;

[0069] FIG. 5a shows a schematic illustration of a top view of a third embodiment of a driverless transport vehicle;

[0070] FIG. 5c shows a schematic illustration of a top view of a third embodiment of a driverless transport vehicle;

[0071] FIG. 5b shows a schematic illustration of a side view of the driverless transport vehicle of FIG. 5a;

[0072] FIG. 6 shows a schematic illustration of a perspective side view of a third embodiment of a driverless transport vehicle;

[0073] FIG. 7 shows a schematic illustration of a top view of a fourth embodiment of a driverless transport vehicle; and

[0074] FIG. 8 shows a schematic illustration of a spinning can replacement process.

DETAILED DESCRIPTION

[0075] A driverless transport vehicle 1a shown in FIGS. 1, 2 and 3 has a travelling drive 2 and a transport platform 6 arranged on the travelling drive 2, which is embodied to accommodate four spinning cans 4 in the form of round cans.

[0076] Adjacent to the transport platform 6 on the outside, the transport vehicle 1a also has a take-up unit 8 extending perpendicularly to the plane of the transport platform 6, which serves, among other things, to accommodate control electronics of an actuating device 5a of a manipulator unit 23a and to accommodate a vehicle control which can be connected to a central master control system, wherein the central master control system is a control unit which monitors and controls, among other things, the entire production process of a spinning machine which delivers fibre band and is fed with fibre band and which is not shown here.

[0077] At the end facing away from the transport platform 6, a gripper arm 7 of the actuating device 5a is in articulated alignment at the take-up unit 8. The gripper arm 7 has a first gripper arm body 10 and a second gripper arm body 11, the first gripper arm body 10 being connected to a gripper arm support 19 arranged on the take-up unit 8 so as to be able to pivot about a pivot axis extending parallel to the plane of the transport platform 6, the gripper arm support 19 in turn being rotatable about a longitudinal axis extending perpendicular to the plane of the transport platform 6.

[0078] At its end opposite the gripper arm support 19, the first gripper arm body 10 is connected in an articulated manner to one end of the second gripper arm body 11, the first gripper arm body 10 and the second gripper arm body 11 being connected so as to be able to be pivoted relative to one another about a pivot axis extending parallel to the plane of the transport platform 6. At its end opposite the first gripper arm body 10, the second gripper arm body 11 has a gripper retainer 21 of a gripper 3, wherein the gripper retainer 21 and the second gripper arm body 11 are in turn pivotally connected about a pivot axis extending parallel to the plane of the transport platform 6, so that a gripper base body 20 extending perpendicular to this pivot axis can be aligned perpendicular to the plane of the transport platform 6 independently of the relative position of the first gripper arm body 10 to the second gripper arm body 11.

[0079] Three support struts 18 extend in a plane and perpendicularly from the gripper base body 20, which are arranged at a distance of 120 from one another in circumferential direction. A gripper element 12 extending perpendicularly to the support struts 18 is arranged on each of the support struts 18, each of which is adjustable in radial direction along the support struts 18 between a holding position gripping the spinning cans 4 and a release position releasing them.

[0080] In order to grasp a spinning can 4, the gripper 3 is adjusted by an adjustment of the gripper arm 7 into a position in which the spinning can 4 can be grasped on the outside at its upper end by a relative displacement of the gripper elements 12 to one another (cf. FIG. 2). By a further adjustment, the spinning can 4 can then be lifted off the transport platform 6 and placed in the area of a fibre band-processing spinning machine, as shown in FIG. 2.

[0081] Due to a rotatability of the gripper base body 20 with respect to the gripper retainer 21, it is possible both to align the gripper elements 12 in circumferential direction with respect to the spinning can 4 and to rotate the gripped spinning can 4 about its longitudinal axis. This makes it possible to align the spinning can 4 according to the position of the fibre band end 17 with respect to the fibre band-fed spinning machine.

[0082] For the final displacement of the spinning can 4, a pushing apparatus 13a is used, which comprises a pusher body 14, which is connected to the gripper base body 20 via a pusher body support 22a. After the spinning can 4 has been set down next to the transport platform 6, the spinning can 4 can then be moved into its intended position by the pusher body 14 resting against the jacket surface 16 of the spinning can 4 by adjusting the gripper arm 7. In an embodiment not shown here, the pusher body 14 can also be of electromagnetic embodiment, so that when the electromagnetic pusher body 14 is activated, it establishes a tension-resistant connection with a metal ring 15 arranged on the jacket surface 16 in the area of an upper end of the spinning can 4, so that the spinning can 4 can then also be pulled out of its position by an adjustment of the gripper arm 7.

[0083] FIGS. 4a and 4b show a schematic illustration of a further embodiment of a transport vehicle 1b. In contrast to the transport vehicle 1a illustrated in FIGS. 1 to 3, this vehicle is embodied to accommodate six spinning cans 4 in the form of round cans. Furthermore, the actuating device 5b of the manipulator unit 23b of the transport vehicle 1b shown in FIGS. 4a and 4b comprises a cantilever 9 extending in longitudinal axis direction over the transport platform 6, which is adjustably arranged on the take-up unit 8 transversely to the longitudinal axis direction of the cantilever 9. The gripper 3 is in turn adjustable in the longitudinal axis direction of the cantilever 9, so that by a combination of the linear adjustability of the cantilever 9 relative to the take-up unit 8 and the linear adjustability of the gripper 3 relative to the cantilever 9, the gripper 3 can be moved to any position relative to the transport platform 6 for taking up a spinning can 4. The adjustment possibilities of the cantilever 9 in relation to the take-up unit 8 are embodied in such a way that after the spinning can 4 has been gripped by the gripper 3, the spinning can 4 can be moved laterally beyond the transport platform 6 and set down in an area adjacent to the transport platform 6. For this purpose, the gripper 3 is also connected to the cantilever 9 so that it can be adjusted perpendicularly to the transport platform 6.

[0084] The transport vehicle 1b illustrated in FIGS. 5a and 5b is identical to the transport vehicle illustrated in FIGS. 4a and 4b, but additionally has a pushing apparatus 13b in the area of the transport platform 6, in which the pusher body 14 can be adjusted in the longitudinal axis direction of the pusher body support 22b, which is connected to the transport platform 6, so that a spinning can 4 arranged on the bottom can be displaced with this pushing apparatus 13b.

[0085] FIG. 6 shows a schematic illustration of a perspective side view of an additional embodiment of a driverless transport vehicle 1c. In contrast to the transport vehicle 1a illustrated in FIGS. 1 to 3, the transport platform 6c is embodied to be able to rotate around its central axis 31. In this embodiment, four parking positions 32 for the spinning cans 4 are provided, equally distributed around the central axis 31. The illustration shows the parking of two spinning cans 4 arranged opposite one another, while the parking positions in between in the direction of rotation of the transport platform 6c are free. The transport platform 6c is embodied to rotate both clockwise and anticlockwise. The rotatable embodiment of the transport platform 6c enables a spinning can 4 to be removed or a parking position for parking a spinning can 4 on the transport platform 6c to be delivered directly to the manipulator unit 23c.

[0086] The transport vehicle 1c also differs in the embodiment of the manipulator unit 23c with its actuating device 5c and the gripper 3 coupled thereto. The manipulator unit 23c is arranged on a platform 30, which is in turn arranged on an upper side of the take-up unit 8. This allows the gripper arm support 19 to be dimensioned smaller in height. The actuating device 5c is embodied with four axes in order to be able to move the gripper 3 more precisely in space. The gripper 3 is embodied with two gripper elements 12, whereby one of the two gripper elements 12 is arranged in a fixed position and the other gripper element 12 is arranged in a linearly adjustable manner along a support strut 18 carrying the gripper elements 12, in particular at the end thereof. The support strut 18 is rotatably supported by a gripper retainer 21. The adjustable gripper element 12 is shown in FIG. 6 in an end position in which the gripper 3 has the largest opening width between the two gripper elements 12. The adjustable gripper element 12 is linearly adjustable by an actuating drive, in particular a spindle drive, arranged in the support strut 18, in the direction of the stationary gripper element 12 and in a direction opposite thereto up to the end position shown.

[0087] Both gripper elements 12 have two contact surfaces 29 on their sides facing one another, which are embodied and arranged for contacting the side wall of the spinning can 4. The contact surfaces 29 arranged on the linearly adjustable gripper element 12 are illustrated here. The contact surfaces 29 comprise flat structures not shown here which have static friction structures, which are attached to the respective contact surfaces 29 in a non-destructively replaceable manner, in order to be able to grip the spinning can 4 by the manipulator unit 23c in an improved manner and to carry it in a clamping manner via the static friction effect.

[0088] The stationary gripper element 12 comprises, on its side facing away from the contact surfaces 29, a pushing apparatus 13c with a pusher body 14 which is fixedly attached to the stationary gripper element 12. The pushing apparatus 13c is embodied as a vacuum system, whereby the pusher body 14 embodies a vacuum box with a circumferential sealing lip which can be applied in a sealing manner to the surface of the side wall of the spinning can 4. By applying a vacuum, the spinning can 4 can be reliably attached to the pusher body 14 and displaced in an improved and reliable manner for exact positioning in a defined manner. In this embodiment, the vacuum source is arranged in the take-up unit 8, wherein the vacuum line leading from the vacuum source to the pusher body 14 according to this embodiment is arranged within the actuating device 5c, the coupled gripper 3 and its support strut 18. The same applies to the electrical cables for supplying the actuating drive with power and control signals.

[0089] The linearly adjustable gripper element 12 has a signal transmitter, not shown here, between its two contact surfaces 29 for signalling contact with the spinning can 4. The signal transmitter can be a proximity switch or a contact switch. As soon as the signal transmitter dispatches its signal, a feeding movement of the linearly adjustable gripper element 12 is stopped in order to prevent damage to the spinning can 4, for example due to excessive pressure.

[0090] The gripper 3 is further provided with a distance sensor, not shown here, which in this embodiment is arranged adjacent to the pusher body 14. The distance sensor is embodied and arranged to measure a distance between the gripper 3, in particular the pusher body 14, and the spinning can 4, so that the gripper 3 can be controlled in suitable fashion. The distance sensor can for example be an ultrasonic sensor.

[0091] The transport vehicle 1c is further equipped with a detection unit 25 for detecting a position of the spinning can 4 and for detecting a fibre band end 17 hanging down from the spinning can rim. The detection unit 25 comprises a first light-emitting unit 26, a second light-emitting unit 27 and a receiver unit 28. The first light-emitting unit 26 is arranged in the take-up unit 8 in a lower section and the second light-emitting unit 27 is arranged in the take-up unit 8 along a vertical axis of the take-up unit 8 in an upper section of the take-up unit 8 above the first light-emitting unit 26. The receiver unit 28 is positioned in a horizontal plane of arrangement of the second light-emitting unit 27 adjacent thereto in the take-up unit 8. The first 26 and second light-emitting units 27 are each embodied to emit a horizontal line of light of defined horizontal length and vertical thickness, the line of light emitted by the first light-emitting unit 26 being emitted upwards at an angle of reflected beam of 45 to the horizontal plane of arrangement of the first light-emitting unit 26. As a result, a parabolic line of light can be imaged on the surface of the spinning can 4, whereby the lowest point of the parabola is congruent with the centre of the spinning can along a horizontal axis of the spinning can 4, in particular in the case of a spinning can 4 embodied as a round can, whereby the spinning can centre can be detected exactly in order to be able to undertake positioning in front of the spinning can 4 in an improved manner. The line of light of the second light transmitter 27 is imaged approximately as a horizontal line on the surface of the spinning can 4 and enables the detection of the fibre band end hanging down on the outside from a spinning can rim. The arrangement height of the second light transmitter 27 on the take-up unit 8 can be selected in such a way that it corresponds to a height of the spinning can rim area from the floor, into which a fibre band end usually reaches when hanging down from the spinning can rim.

[0092] The respective lines of light are detected by the receiver unit 28 as soon as they hit the surface of the spinning can 4, for example, and are reflected by it. The receiver unit 28 may be a camera. The detected signals of the corresponding lines of light are provided to a control unit of the manipulator unit, which evaluates from the detected signals a position of the spinning can 4 as well as the presence or absence of a fibre band end hanging down from the spinning can rim in the irradiated and monitored area, in order to control the manipulator unit 23c for defined handling of the spinning can 4.

[0093] An operating unit 24 is arranged on the take-up unit 8, via which the manipulator unit 23c and the transport vehicle 1c can be operated and/or adjusted by an operator.

[0094] FIG. 7 shows a schematic illustration of a top view of a fourth embodiment of a driverless transport vehicle 1d. In contrast to the previously described transport vehicles 1a-1c, the transport vehicle 1d has two coaxially arranged, rotatable transport platforms 6d for carrying three spinning cans 4 each, the manipulator unit 23d being arranged in a spandrel of the two rotatable transport platforms 6d.

[0095] FIG. 8 shows a schematic illustration of a spinning can replacement process 100. First, a driverless transport vehicle 1a, 1b, 1c, 1d loaded with at least one spinning can 4 filled with fibre band is moved to a spinning machine according to one of the preceding embodiments (step 110). In a subsequent step 120, the driverless transport vehicle 1a, 1b, 1c, 1d is positioned at the spinning machine in front of the spinning can 4 to be replaced. The exact positioning of the transport vehicle 1a, 1b, 1c, 1d can be carried out by a detection unit 25 as described above, comprising at least the first light transmitter 26 and the receiver unit 28. In a subsequent step 130, the spinning can 4 to be replaced is moved by the driverless transport vehicle 1a, 1b, 1c, 1d from an operating position to a receiving position spaced from the operating position, either positioned there until the operating position is occupied by a filled spinning can 4 or alternatively placed subsequently on a free space on the transport platform 6, 6c, 6d by the manipulator unit 23a, 23b, 23c, 23d following the transfer to the receiving position. The transfer can be carried out in particular by a pusher body 14 as described above, which is subjected to negative pressure after contacting the spinning can surface in order to fix the spinning can 4 in place at the pusher body 14. The spinning can 4 can be brought exactly into the take-up position by moving the pusher body 14 via the actuating device 5c and the gripper 3. In a step 140, the spinning can 4 filled with fibre band is taken up from the transport platform 6, 6c, 6d by the manipulator unit 23a, 23b, 23c, 23d and set down next to the driverless transport vehicle 1a, 1b, 1c, 1d. In a further step 150, the filled spinning can 4 that has been set down is brought into the free operating position by the driverless transport vehicle 1a, 1b, 1c, 1d. The spinning can 4 can be brought into operating position in a manner equivalent to bringing it into the take-up position by the pusher body 14.

[0096] Can and May refer in particular to optional features of the invention. Accordingly, there are also further developments and/or examples of embodiments of the present invention which additionally or alternatively have the respective feature or features.

[0097] If necessary, isolated features can also be picked out from the feature combinations disclosed herein and used in combination with other features to delimit the subject-matter of the claim, while eliminating any structural and/or functional connection that may exist between the features.

LIST OF REFERENCE SIGNS

[0098] 1a, 1b, 1c, 1d Transport vehicle [0099] 2 Travelling drive [0100] 3 Gripper [0101] 4 Spinning can [0102] 5b, 5c Actuating device [0103] 6, 6c, 6d Transport platform [0104] 7 Gripper arm [0105] 8 Take-up unit [0106] 9 Cantilever [0107] 10 First gripper arm body [0108] 11 Second gripper arm body [0109] 12 Gripper elements [0110] 13a, 13b, 13c Pushing apparatus [0111] 14 Pusher body [0112] 15 Metal ring [0113] 16 Jacket surface [0114] 17 Fibre band end [0115] 18 Support strut [0116] 19 Gripper arm support [0117] 20 Gripper base body [0118] 21 Gripper retainer [0119] 22a, 22b, 22c Pusher body support [0120] 23a, 23b, 23c, 23d Manipulator unit [0121] 24 Operating unit [0122] 25 Detection unit [0123] 26 First light-emitting unit [0124] 27 Second light-emitting unit [0125] 28 Receiver unit [0126] 29 Contact area [0127] 30 Platform [0128] 31 Central axis [0129] 32 Parking position